The Palmeiras forward – who will join Real Madrid in July – netted the only goal, 10 minutes from time, in the 1-0 friendly victory over the Three Lions.
The 17-year-old’s strike made him the youngest-ever male goalscorer at Wembley and, after the match, he explained his pride emulating the late, great Sir Bobby by playing at England’s national stadium.
“A guy who is an idol here is also Bobby Charlton,” said Endrick.
“Playing in the stadium that Bobby played, scoring on the day Ronaldo debuted. These are very important memories for me.